Reid Simmons

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Space mission operations require flexible, efficient and reliable plan execution. In typical operations command sequences (which are a simple subset of general executable plans) are generated on the ground, either manually or with assistance from automated planning, and sent to the spacecraft. For more advanced operations more expressive executable plans(More)
We present in detail some of the challenges in developing reusable robotic software. We base that on our experience in developing the CLARAty robotics software, which is a generic object-oriented framework used for the integration of new algorithms in the areas of motion control, vision, manipulation, locomotion, navigation, localization, planning and(More)
This paper discusses the use of observational studies of human-robot social interaction in open human-inhabited environments as a method for improving on the design and evaluating the interactive capabilities of social robots. First, we discuss issues that have surfaced in attempts to evaluate social interactions between humans and robots. Next, we review(More)
The Robotic Antarctic Meteorite Search at Carnegie Mellon is developing robotic technologies to allow for autonomous search and classification of meteorites in Antarctica. In November 1998, the robot Nomad was deployed in the Patriot Hills region of Antarctica to perform several demonstrations and experiments of these technologies in a polar environment.(More)
This paper presents a market-based, multi-robot planning capability, designed as part of a distributed, layered architecture for multi-robot control and coordination. More speci cally, we are developing an extension to the traditional three-layered robot architecture that enables robots to interact directly at each layer | at the behavioral level, the(More)
We are developing techniques for safeguarding the remote operation of lunar rovers. This paper presents two complementary techniques: One, based on stereo vision, evaluates the traversability of paths the rover could follow, and produces preferences for steering directions. The other, based on laser proximity sensing, looks for hazards immediately in front(More)
In this article, we will present an overview of the Coupled Layered Architecture for Robotic Autonomy. CLARAty develops a frammork for generic and reusable robotic components that can be adapted to a number of heterogeneous robot playbrms. It also provides a framework that will simplify the integration of new technologies and enable the comparison of(More)
This paper presents an architecture that enables multiple robots to explicitly coordinate actions at multiple levels of abstraction. In particular, we are developing an extension to the traditional three-layered robot architecture that enables robots to interact directly at each layer – at the behavioral level, the robots create distributed control loops;(More)